Cost is an important thing we wanted to keep in mind when designing our robot. We’ve decided to use a balance of strong and cost-effective materials in our design process. This will enable us to create a robot that is more than capable of completing its intended tasks while remaining affordable. The budget here includes items that were already bought as well as those expected to be purchased to finish the prototypes.
| Item | Quantity | Individual Cost | Cost |
| 6 25ft spools of hook-up wire | 1 | 20.95 | 20.95 |
| OSEPP DC Gear Motor | 8 | 14.99 | 119.92 |
| 4mm bore 16 tooth 32 pitch bevel gear | 8 | 5.99 | 47.92 |
| 1/4″ bore 32 tooth 32 pitch bevel gear | 8 | 7.99 | 63.92 |
| angle position sensor | 8 | 2.10 | 16.80 |
| 2-pack of aluminum mounting hub | 8 | 7.95 | 63.60 |
| 1/4″ bore 24 pitch 15 tooth spur gear | 8 | 18.07 | 144.56 |
| 1/4″ bore 24 pitch 60 tooth spur gear | 8 | 40.10 | 320.80 |
| 6 ft of 1/4″ Stainless Steel Rod | 2 | 11.95 | 23.90 |
| 24” x 36” acrylic sheet | 1 | 63.95 | 63.95 |
| 18-8 Stainless Steel Socket Head Screw 10-32 Thread Size, 2-3/4″ Long, pkg of 10 | 2 | 14.38 | 28.76 |
| Compression Spring 0.75″ Long, 0.3″ OD, 0.218″ ID, pkg of 12 | 1 | 12.67 | 12.67 |
| Compression Spring 0.5″ Long, 0.3″ OD, 0.23″ ID, pkg of 12 | 1 | 12.42 | 12.42 |
| 36D BLDC motor with planetary gearbox – 24V 430RPM | 4 | 35.95 | 143.80 |
| Corrosion-Resistant Timing Belt Pulley, XL Series, Hub, 2 Flanges, 9.5mm Maximum Belt Width, 28mm OD | 8 | 12.80 | 102.40 |
| Dust-Free Timing Belt, XL Series, 5/16″ Width, Trade No. 70xL031 | 4 | 3.65 | 14.64 |
| Metal Miter Gears | 8 | 28.85 | 230.80 |
| Rotary Shaft 316 Stainless Steel, 8 mm Diameter, 600 mm Long | 2 | 52.49 | 104.98 |
| Pololu Universal Aluminum Mounting Hub for 8mm Shaft, M3 Holes | 4 | 7.95 | 31.80 |
| Machine Screw: M3, 25 mm Length, Phillips | 2 | 1.75 | 3.50 |
| 18-8 Stainless Steel Socket Head Screw 10-32 Thread Size, 2-1/4″ Long | 1 | 8.43 | 8.43 |
| 1/4inch DC 12V 2 Way Normally Closed Electric Solenoid Air Valve | 1 | 9.65 | 9.65 |
| TAILONZ PNEUMATIC Male Straight 1/4 Inch Tube OD x 1/4 Inch NPT Thread Push to Connect Fitting PC-1/4-N2 | 1 | 14.99 | 14.99 |
| LEIPUPA High Visibility 50lbs Lift Bag & Over Pressure Relief/Dump Valve for Technical Underwater Scuba Diving Snorkeling | 1 | 30.99 | 30.99 |
| TAILONZ PNEUMATIC Yellow 1/4 Inch OD 10 Meters PU Air Tubing Pipe Hose Pu Air Hose for Air Line Tubing or Fluid Transfer Tubing | 1 | 12.99 | 12.99 |
| Yanmis Peristaltic Pump,DC12V Mini Peristaltic Pump for Laboratory Bioengineering G528 32x23mm(35) | 1 | 18.99 | 18.99 |
| 16G refillable co2 Cartridge with Threaded soda/Beer/Juice Rechargeable Cartridge Bike co2 inflator Cartridge reuseable | 1 | 29.00 | 29.00 |
| SparkFun Qwiic MicroPressure Sensor – Miniature Breakout – 25psi piezoresistive Silicon Pressure Sensor – Calibrated & Compensated Pressure Sensing Range of 60mbar to 2.5bar – Ultra Low-Power | 1 | 29.90 | 29.90 |
| PVC Pipe | 1 | 25.04 | 25.04 |
| End Caps | 1 | 29.84 | 29.84 |
| SparkFun Qwiic MicroPressure Sensor – Miniature Breakout – 25psi piezoresistive Silicon Pressure Sensor – Calibrated & Compensated Pressure Sensing Range | 1 | 44.85 | 44.85 |
| TAILONZ PNEUMATIC Black 1/4 inch OD Tee Plastic Push to Connect Fittings 3 Ways Tube Connect Push Fit Push Lock PE-1/4(Pack of 10) | 1 | 15.99 | 15.99 |
| 12V High Flow Peristaltic Liquid Pump Vacuum Pump Strong Suction Self Priming Peristaltic Pump for Aquarium Lab Analytical | 1 | 187.96 | 187.96 |
| T-Slotted Framing Single 4-Slot Rail, Silver, 30 mm Square, Hollow, Length 6ft | 1 | 31.76 | 31.76 |
| Clear Scratch- and UV-Resistant Cast Acrylic Sheet, 12″ x 12″ x 1/8″ | 1 | 58.20 | 58.20 |
| T -Slotted Framing Gusset Bracket for 30 mm High Rail, 1-1/8″ Long, Silver | 1 | 105.60 | 105.60 |
| Pololu Stamped Aluminum L-Bracket Pair for 37D mm Metal Gearmotors | 1 | 7.95 | 7.95 |
| 6.3:1 Metal Gearmotor 37Dx65L mm 12V with 64 CPR Encoder (Helical Pinion) | 2 | 39.95 | 79.90 |
| Flexible Plastic Conduit (2 ft) | 1 | 8.56 | 8.56 |
| Amarine Made 1100 gph 12v Boat Marine Plumbing Electric Bilge Pumps | 1 | 26.99 | 26.99 |
| TOTAL | 2349.67 |
The budget used up in the development of this project ended up at $3673.83. This was a tad higher than anticipated, but it allowed us to acquire the resources necessary to accomplish the hardware goals set at the beginning of this journey. Some interesting things to notice are that the amount used to buy gears ended up being more than twice the amount expected, and the amount of money used to buy sensors came out to about one sixth of the amount anticipated. As the weeks progressed, we developed more ideas on how to bring about our Minimum Viable Product. Fully realizing these ideas required us to increase spending and surpass our anticipated budget, but we believe that this allowed us to produce prototypes which better fulfilled the expectations we set for ourselves and our project MVP.